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Carnegie Mellon Robotics Institute

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Abstract

This paper describes the Multilevel Autonomy Robot Telesupervision Architecture (MARTA), an architecture for supervisory control of a heterogeneous eet of net- worked unmanned autonomous aquatic surface vessels carrying a payload of environmental science sensors. This architecture allows a land-based human scientist to eectively supervise data gathering by multiple robotic assets that implement a web of widely dispersed mobile sensors for in situ study of physical, chemical or bio- logical processes in water or in the water/atmosphere interface

Keywords

telesupervision,ASV,USV,sensor web,inference grids,log-Gaussian process

Notes

Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics

Associated Project(s): Telesupervised Adaptive Ocean Sensor Fleet and Robot Sensor Boat

Text Reference

Kian Hsiang Low, Gregg Podnar, Stephen B. Stancliff, John M. Dolan, and Alberto Elfes, "Robot Boats as a Mobile Aquatic Sensor Network," 2009 International Conference on Information Processing in Sensor Networks (IPSN) Workshop on Sensor Networks for Earth and Space Science Applications: ESSA 2009, April, 2009.

BibTeX Reference

@inproceedings{Low_2009_6403,
   author = "Kian Hsiang Low and Gregg Podnar and Stephen B Stancliff and John M Dolan and Alberto Elfes",
   title = "Robot Boats as a Mobile Aquatic Sensor Network",
   booktitle = "2009 International Conference on Information Processing in Sensor Networks (IPSN) Workshop on Sensor Networks for Earth and Space Science Applications: ESSA 2009",
   month = "April",
   year = "2009",
}

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